EP3299241B1 - Verfahren, system und fahrzeug für den einsatz einer objektanzeigevorrichtung in einem fahrzeug - Google Patents

Verfahren, system und fahrzeug für den einsatz einer objektanzeigevorrichtung in einem fahrzeug Download PDF

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Publication number
EP3299241B1
EP3299241B1 EP16190588.0A EP16190588A EP3299241B1 EP 3299241 B1 EP3299241 B1 EP 3299241B1 EP 16190588 A EP16190588 A EP 16190588A EP 3299241 B1 EP3299241 B1 EP 3299241B1
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EP
European Patent Office
Prior art keywords
driver
vehicle
displaying device
likelihood
object displaying
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP16190588.0A
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English (en)
French (fr)
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EP3299241A1 (de
Inventor
Per LANDFORS
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Volvo Car Corp
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Volvo Car Corp
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Publication date
Application filed by Volvo Car Corp filed Critical Volvo Car Corp
Priority to EP16190588.0A priority Critical patent/EP3299241B1/de
Priority to CN201710810577.2A priority patent/CN107867242B/zh
Priority to US15/708,538 priority patent/US11279371B2/en
Publication of EP3299241A1 publication Critical patent/EP3299241A1/de
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Publication of EP3299241B1 publication Critical patent/EP3299241B1/de
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/29—Instruments characterised by the way in which information is handled, e.g. showing information on plural displays or prioritising information according to driving conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W50/16—Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J50/00—Arrangements specially adapted for use on cycles not provided for in main groups B62J1/00 - B62J45/00
    • B62J50/20—Information-providing devices
    • B62J50/21—Information-providing devices intended to provide information to rider or passenger
    • B62J50/22—Information-providing devices intended to provide information to rider or passenger electronic, e.g. displays
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/18—Information management
    • B60K2360/184—Displaying the same information on different displays
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/8093—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for obstacle warning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • B60W2050/0022—Gains, weighting coefficients or weighting functions
    • B60W2050/0025—Transfer function weighting factor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/215—Selection or confirmation of options
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects

Definitions

  • Embodiments of the invention herein relate generally to a method, system and vehicle. More particularly the embodiments herein relate to use of an object displaying device comprised in a vehicle.
  • One source of information that could be used for understanding if the driver has observed potential threats relevant from e.g. a collision perspective such as upcoming or oncoming vehicles or pedestrians is to monitor the driver's usage of mirrors such as the side mirrors and rear view mirror and other visual aids such as surround view cameras or other cameras placed around the vehicle.
  • Vehicles today may be equipped with systems that can detect whether the driver is tired or inattentive by using e.g. technology that observe the driver's head and eyes. These systems play a role in achieving the above.
  • EP 3 040 809 A1 discloses a method and system for controlling a human-machine interface having at least two displays.
  • the system can determine the gaze direction of the driver.
  • the system may verify whether or not the driver's eyes are gazing into the rear-view mirrors and provides a warning if the driver is not gazing at the mirror for a determined time.
  • WO 2011/075392 A1 discloses to check where the driver is looking to determine what the driver knows.
  • the response of an accident prevention system is modified accordingly, considering in particular nearby objects.
  • the system may tailor alerts with regards to whether the driver has his eyes on the road.
  • An objective of the invention is therefore to obviate at least one of the above disadvantages and to provide improved safety in a vehicle.
  • the objective is achieved by a method for handling a driver's use of an object displaying device comprised in a vehicle.
  • the driver's use of the object displaying device is monitored. Based on the monitoring, a likelihood of that the driver has detected a representation of the object when using the object displaying device is determined.
  • the representation of the object is visible to the driver in the object displaying device.
  • the object is located in the surroundings of the vehicle.
  • the likelihood determination is further based on at least one of: a size of the object, distance between the object and the vehicle, contrast of the object in relation to the vehicle's surroundings, light conditions, sun angle in relation to the vehicle and object motion.
  • the objective is achieved by a system for handling a driver's use of an object displaying device comprised in a vehicle.
  • the system is adapted to monitor the driver's use of the object displaying device.
  • the system is adapted to, based on the monitoring, determine a likelihood of that the driver has detected a representation of the object when using the object displaying device.
  • the representation of the object is visible to the driver in the object displaying device.
  • the object is located in the surroundings of the vehicle.
  • the likelihood determination is further based on at least one of: a size of the object, distance between the object and the vehicle, contrast of the object in relation to the vehicle's surroundings, light conditions, sun angle in relation to the vehicle and object motion.
  • the vehicle safety is improved.
  • Embodiments herein afford many advantages, of which a non-exhaustive list of examples follows:
  • An advantage of the embodiments herein is that systems which have access to the information about the determined likelihood could adjust its thresholds so that e.g. at least one of a better time gap to the vehicle in front is chosen, a better timing of auto brake and forward collision warning is chosen. This leading to for example decreased likelihood of accidents occurring and that nuisance of false or early warnings/interventions is minimized. Warnings and interventions could even be excluded if the driver has observed a potential threat, also leading to more trust and less nuisance in the systems.
  • An advantage of the embodiments herein is that they improve the driver's use of object displaying devices such as e.g. mirrors and other visual aids. With the improved use, visually identifiable threats are identified and safety is improved. For example, the driver may be reminded to take another or closer look in one or several object displaying devices if there is a risk that the driver has not seen a relevant object with high threat/severity level.
  • the driver can get recommendations of how to change his/her way of using the object displaying devices.
  • Figure 1 depicts a vehicle 100.
  • the vehicle 100 may be any arbitrary vehicle, for instance a car, truck, lorry, van, bus, motorcycle etc.
  • the vehicle 100 may be at least partly autonomous or self-driven, it may be non-autonomous etc.
  • the vehicle 100 may be used and driven by a driver 103.
  • the driver 103 may also be referred to as a user of the vehicle 100, a chauffeur etc.
  • the vehicle 100 may comprise at least one object displaying devices 105 which is adapted to display an object 110 or a representation of the object 110 to the driver 103.
  • the vehicle 100 comprises a plurality of object displaying devices 105.
  • the vehicle 100 may comprise one or more object displaying devices 105.
  • the object 110 may be located in the surroundings of the vehicle 100 and the driver 103.
  • An object displaying device 103 may be a mirror or a display.
  • the object displaying devices 105 may be located at different locations on the inside and on the outside of the vehicle 100.
  • the object 110 may be for example an animal, another vehicle, a building etc.
  • the object 110 may be a risk to the vehicle 100, e.g. in the form of a collision.
  • the vehicle 100 may comprise a driver monitoring device (not illustrated in figure 1 ) such as e.g. a driver monitoring camera.
  • the driver monitoring device may be located at any suitable location in the vehicle 100.
  • the driver monitoring device is adapted to monitor the driver, e.g. movements of the driver's head, the driver's eye direction etc.
  • the vehicle 100 may comprise an interface, such as a touch interface (not shown in figure 1 ) which may enable the driver 103 to indicate that he/she is actually monitoring what is going on, i.e. on a display.
  • a touch interface (not shown in figure 1 ) which may enable the driver 103 to indicate that he/she is actually monitoring what is going on, i.e. on a display.
  • the driver 103 may click on a button on the touch interface to confirm that he/she has detected another vehicle in the other lane by looking in the object displaying device 105.
  • the driver 103 has the risk situation under control. This may for example be of use during autonomous parking.
  • the interface may comprise one or more microphones, enabling the driver 103 to provide the indication orally.
  • the vehicle 100 may comprise systems such as a collision warning system, an autonomous parking system, a blind spot information system and a safety and driver support system.
  • the method for handling a driver's 103 use of an object displaying device 105 comprised in a vehicle 100 will now be described with reference to the flowchart depicted in Figure 2 .
  • the object displaying device 105 is exemplified with a mirror, the method may be referred to as a Mirror Behavior Detection (MBD) function or system.
  • MBD Mirror Behavior Detection
  • the method illustrated in figure 2 comprises at least some of the following steps, which steps may as well be carried out in another suitable order than described below.
  • the driver's 103 use of the object displaying device 105 is monitored.
  • monitoring the use of the object displaying device 105 it refers to monitoring whether the driver 103 looks into the object displaying device 105 with his eyes. It is not necessary to monitor where in the object displaying device 105 the driver 103 is looking, but only that he/she is looking into the device 105.
  • the monitoring may be performed by a driver monitoring device (not illustrated in figure 1 ) such as e.g. a driver monitoring camera.
  • the driver monitoring device may be located at any suitable location in the vehicle 100.
  • the driver monitoring device may continuously monitor the driver 103 or it may monitor in regular intervals.
  • the object displaying device 105 may be at least one of a mirror and a display which makes the object 110 or a representation of the object 110 visible to the driver 103 when he/she looks into the object displaying device 105.
  • the monitoring may provide at least one of: glance time information, head direction information, gaze direction information and eye opening information etc.
  • the glance time information may indicate a glance time for the driver's 103 glance into the object displaying device 105.
  • the head direction information may indicate a head direction of the driver 103 in relation to the object displaying device 105.
  • the eye opening information may indicate a degree of opening of the driver's 103 eyes when glancing into the object displaying device 105.
  • the gaze direction provides information related to where the driver's 103 eyes are directed.
  • the head direction information is a rougher estimate of where the driver 103 is looking (rougher than the gaze direction information). So if the gaze direction information is available (and if it can be trusted), the gaze direction information is used instead of or in addition to the head direction information.
  • a likelihood of that the driver 103 has detected a representation of the object 110 when using the object displaying device 105 is determined.
  • the likelihood of that the driver 103 has detected the representation of the object 100 may involve a likelihood of that the driver 103 is aware of the object 110, what the object 110 is and in which way the object 110 is related to the vehicle 100 (e.g. if and how the object 110 is getting close to the vehicle 100).
  • the representation of the object 110 is visible to the driver 103 in the object displaying device 105.
  • the object 110 is located in the surroundings of the vehicle 100.
  • the detected object 110 may be an object 110 which is currently physically visible or it may be physically visible in close future to the driver 103.
  • the representation of the object 110 may be a picture or video of the object 110, it may be a symbol or a graphic representing the object 110, or any suitable representation which indicates that there is something in the surroundings of the vehicle 100 that the driver 103 should pay its attention to.
  • the vehicle 100 may comprise one or more object displaying devices 105.
  • the representation of the object 110 may be visible in at least two of these object displaying devices 105, i.e. visible in at least two of the one or more object displaying devices 105.
  • a weight parameter may be associated with each of the at least two object displaying devices 105 in the likelihood determination.
  • the weight parameter may be based on at least one of: a distance between the object 110 and the vehicle 100, an object size, the size of the object displaying device 105 etc. For example, an object displaying device with a large size may be associated with a large weight parameter.
  • the likelihood determination of the invention is further based on at least one of: a size of the object 110, distance between the object 110 and the vehicle 100, a contrast of the object 110 in relation to the vehicle's surroundings, light conditions, sun angle in relation to the vehicle 100, the object's motion (acceleration, speed, jerk etc.).
  • Information indicating the size of the object 110, distance to the object 110 and its motion (acceleration, speed, jerk etc.) may be determined by sensor data from e.g. radars, lidars, cameras and ultrasonic sensors comprised in the vehicle 100.
  • the contrast of the object 110 in the object displaying device 105 may be determined or at least partially determined by a camera sensor. External and internal light conditions and sun angle may be determined by light or camera sensors.
  • a long distance between the object 110 and the vehicle 100 means that the representation of the object 110 has a small size (smaller than the real size of the object 110) in the object displaying device 105. So, a small size of the representation of the object 110 may lead to a low likelihood of that the driver 103 has detected the object 110.
  • the light conditions may be the conditions outside or inside the vehicle 100. If lamps are lit inside the vehicle 100, it may be more difficult to see an object 110 in the surroundings of the vehicle 100 when it is dark outside due to a mirror effect in the vehicle's 100 windows. Thus, the likelihood may be lower if it is dark outside the vehicle 100 compared to when it is light outside.
  • an example may be that if the representation of the object 110 is seen as moving in the object displaying display 105, the likelihood for that the driver 103 has seen the object 110 is larger than if the object 110 is not moving (a human driver 103 is good at detecting movement, even if the object 110 has a small size).
  • the likelihood determination may for example be based on the size of the object 110.
  • the size of the object 110 may be replaced by information about the number of pixels (the area) which the object 110 has in the display (i.e. the size of the representation of the object 110 in the display).
  • the object displaying device 105 is a mirror
  • the object's size in the mirror may be estimated by using information from a camera and a radar system.
  • Information indicating the type of object 110 can be reported by the camera, and the distance between the vehicle 100 and the object 110 may be obtained via e.g. radar, lidar or ultrasound devices comprised in or onboard the vehicle 100.
  • the likelihood may be determined further based on whether at least one of a haptic feedback device or an acoustic feedback device is activated or not within the vehicle 100.
  • the haptic feedback device and the acoustic feedback device may indicate to the driver 103 that the object 110 is located in the surroundings of the vehicle 100.
  • haptic feedback e.g. vibrations in the steering wheel
  • Even acoustic information may indicate that there is an object 110 in the vehicle's 100 surroundings, typically an acoustic reverse gear warning. If either the haptic feedback or the acoustic information is activated in the vehicle 100, the likelihood that the object 110 has been identified is higher than if they are not activated.
  • the determined likelihood may be provided to at least one of: a collision warning system, an autonomous parking system, a blind spot information system and a safety and driver support system comprised in the vehicle 100.
  • the determined likelihood may be referred to as an instantaneous or momentary likelihood which implies that the determined likelihood is the likelihood of that the driver 103 has detected a representation of the object 110 which currently is in the surroundings of the vehicle 100 or which will be in the surroundings of the vehicle 100 in close future.
  • the determined likelihood is instantaneous in contrast to statistical information. Statistical information will be described in more detail with reference to step 205 below.
  • the different mirrors 105 and displays 105 may be weighed differently in the likelihood evaluation based on where the object 110 is with respect to the vehicle 100, its size etc.
  • a driver monitoring camera may be used for detecting eye gaze, head direction/rotation and eye opening etc.
  • Step 203 is an optional step.
  • a confirmation of that the driver 103 has detected the representation of the object 110 when using the object displaying device 105 may be obtained.
  • the confirmation may be obtained from the driver 103 when he/she e.g. presses a confirmation button, enters a voice confirmation command etc.
  • this confirmation information can be used as input to other systems in the vehicle 100. For example, to allow certain vehicle functionality (e.g. different functions related to autonomous driving or parking) or to adapt safety or driver support functions.
  • Step 204 described above is not necessary for the execution of step 204.
  • step 204 may be performed after step 202 or after step 203.
  • feedback may be provided to the driver 103 related to its usage of the object displaying device 105.
  • the feedback may comprise an audio alarm which indicates to the driver 103 that he/she should increase the use the object displaying device 105.
  • the feedback which indicates to the driver 103 that he/she should increase his/her use of the object displaying device 105 may be a message or a symbol appearing on a display in front of the driver 103.
  • the determined likelihood may be compared with a threshold. For example, if the determined likelihood is below or equal to the threshold, it may be a low likelihood that the driver 103 has seen the representation of the object 110 in the object displaying device 105. If the determined likelihood is above the threshold, it may be a high likelihood that the driver 103 has seen the representation of the object 110 in the object displaying device 105.
  • Monitoring information which indicates the driver's 103 use of the object displaying device 105 over time may be stored, e.g. in a memory unit. Such stored monitoring information may provide statistics of how well the driver 103 uses the object displaying devices 105 over time.
  • Safety and driver support system comprised in the vehicle 100 may be adapted based on the determined likelihood from step 202 and possible also based on the stored information from step 205. In other words, the adaptation may be based on instantaneous likelihood information and possibly also based on statistical likelihood information. For example, thresholds and timing of warnings in safety and driver support system may be adapted based on the likelihood (instantaneous and statistical likelihood).
  • the safety and driver support system may be referred to as an active safety and driver support system or a passive safety and driver support system.
  • An active safety system may be described as a safety system that assists the driver 103 in avoiding accidents, such as assisting in steering and braking.
  • a passive safety system may be described as features that help reducing the effects of an accident, such as seat belts, airbags etc.
  • the safety and driver support system may also be referred to as a safety and driver support function.
  • the safety and driver support system is a system adapted to help avoid accidents and to assist the driver 103 to drive the vehicle 100 safely.
  • the safety and driver support system may be one system, or it may be several systems where one system is responsible for safety and another system is responsible for driver support.
  • a driver support system and a safety system may use the likelihood in the same way.
  • the statistics of how well the driver 103 uses the object displaying device 105 to detect surrounding objects 110 can be used (e.g. object displaying device use over time) in various cases.
  • the statistics may be used to estimate over time how safe the driver 103 drives the vehicle 100. It may be used by collision avoidance functions such as Forward Collision Warning and Lane Keeping Aid for example in order to adjust thresholds. It may be used by driver support functions such as Adaptive Cruise Control or other autonomous driving functions to adapt e.g. time gap and other margins to other vehicles and objects. It may be used for automatic activation of active safety and/or driver support functions which are previously not activated. It may be used to provide recommendation of a change in object displaying device usage behaviour such as longer glance times, reminder of using one or several mirrors and/or displays etc.
  • the determined likelihood may be used, for example in parking scenarios, in overtaking scenarios, driver feedback etc.
  • the determined likelihood may also be used together with each object's 110 threat/severity level.
  • a collision warning functionality of the vehicle 100 may be activated and or its thresholds may be adjusted. If the object 110 is a threat to the vehicle 100, e.g. another vehicle approaching with high speed from behind (i.e. a high threat/severity level), it is important that the driver 103 has detected the object 110. This means that systems and functions in the vehicle 100 do not only take the determined likelihood into account, but also the object's 110 threat/severity level.
  • autonomous parking may be disabled if the driver 103 is not observing one or several surrounding objects 110 (i.e. when the determined likelihood is low).
  • the autonomous parking may be enabled if a good overview of the surroundings is shown (i.e. the determined likelihood is high).
  • the vehicle 100 may be steered back into lane if trying to go out in the adjacent lane.
  • Blind Spot Information System-warnings may be suppressed or made less intrusive if it is very likely that the driver 103 has seen the object 110 in the object displaying device 105 (i.e. when the determined likelihood is high).
  • the driver 103 may be reminded to use the mirror(s) 105 when he/she is changing lane without using the mirror(s) 105 (i.e. when the determined likelihood is low).
  • the driver 103 may be provided with feedback on his/hers mirror and display usage. In other words, the driver 103 may be reminded to take another or closer look in one or several mirrors 105 or displays 105 if there is a risk that the driver 103 has not seen a relevant object 110 with high threat/severity level (i.e. when the likelihood is determined to be low).
  • a threat assessment algorithm may be continuously run in one of the vehicle's 100 control units. The algorithm may take input from the vehicle's 100 sensors into account, such as cameras, radar, lidar, ultrasound sensors etc. A collision likelihood related to surrounding objects may be derived by the threat assessment algorithm.
  • the method steps illustrated in figure 2 may be executed by a system. At least part of the system may be implemented in the vehicle 100.
  • the system may comprises an arrangement as shown in Figure 3 .
  • the system for handling a driver's 103 use of an object displaying device 105 comprised in a vehicle 100 is adapted to, e.g. by means of a monitoring unit 301, monitor the driver's 103 use of the object displaying device 105.
  • the monitoring unit 301 may for example be a driver monitoring device.
  • the monitoring unit 301 may also be referred to as a monitoring module, a monitoring means, a monitoring circuit, means for monitoring, etc.
  • the monitoring unit 301 may be a processor 303 of the system.
  • the monitoring unit 301 may be a driver monitoring device.
  • the system is further adapted to, e.g. by means of a determining unit 305, determine, based on the monitoring, a likelihood of that the driver 103 has detected a representation of the object 110 when using the object displaying device 105.
  • the representation of the object 110 is visible to the driver 103 in the object displaying device 105, and wherein the object 110 is located in the surroundings of the vehicle 100.
  • the determining unit 305 may also be referred to as a determining module, a determining means, a determining circuit, means for determining, etc.
  • the determining unit 305 may be the processor 303 of the system.
  • the vehicle 100 may comprises a one or a plurality of object displaying devices 105.
  • the representation of the object 110 may be visible in at least two of the object displaying devices 105 in the plurality.
  • a weight parameter may be associated with each of the at least two object displaying devices 105 in the likelihood determination.
  • the weight parameter may be based on at least one of: a distance between the object 110 and the vehicle 110, and an object size.
  • the monitoring may provide at least one of glance time information, head direction information, gaze direction information and eye opening information.
  • the glance time information may indicates a glance time for the driver's 103 glance into the object displaying device 105.
  • the head direction information may indicate a head direction of the driver 103 in relation to the object displaying device 105 and, the eye opening information may indicate a degree of opening of the driver's 103 eyes when glancing into the object displaying device 105.
  • the likelihood determination is further based on at least one of: a size of the object 110, distance between the object 110 and the vehicle 100, contrast of the object 110 in relation to the vehicle's 100 surroundings, light conditions, sun angle in relation to the vehicle 100 and object motion.
  • the system may be further adapted to, e.g. by means of an obtaining unit 308, obtain a confirmation of that the driver 103 has detected the representation of the object 110 when using the object displaying device 105.
  • the obtaining unit 308 may also be referred to as an obtaining module, an obtaining means, an obtaining circuit, means for obtaining, etc.
  • the obtaining unit 308 may be the processor 303 of the system.
  • the system may be further adapted to, e.g. bye means of a providing unit 310, provide, based on the determined likelihood, feedback to the driver 103 related to its usage of the object displaying device 105.
  • the providing unit 310 may also be referred to as a providing module, a providing means, a providing circuit, means for providing, etc.
  • the providing unit 310 may be the processor 303 of the system.
  • the likelihood may be determined further based on whether at least one of a haptic feedback device or an acoustic feedback device is activated or not.
  • the haptic feedback device and the acoustic feedback device may indicate to the driver 103 that the object 110 is located in the surroundings of the vehicle 100.
  • the system may be further adapted to, e.g. by means of a storing unit 313, store monitoring information of the driver's 103 use of the object displaying device 105 over time.
  • the storing unit 313 may also be referred to as a storing module, a storing means, a storing circuit, means for storing, etc.
  • the storing unit 313 may be a memory.
  • the driver's 103 use of the object displaying device 105 may be monitored by a driver monitoring camera.
  • the object displaying device 105 may be at least one of a mirror and display which makes the object 110 or a representation of the object 110 visible to the driver 103.
  • the system may be further adapted to, e.g. by means of an adapting unit 314, to adapt safety and driver support systems based on the determined likelihood.
  • the adapting unit 314 may also be referred to as an adapting module, an adapting means, an adapting circuit, means for adapting, etc.
  • the adapting unit 314 may be the processor 303 of the system.
  • a vehicle 100 comprises at least part of the system described above.
  • the system comprises the processor 303 and a memory 315.
  • the memory 315 comprises instructions executable by the processor 303.
  • the memory 315 comprises one or more memory units.
  • the memory 315 is arranged to be used to store data, received data streams, monitored information, determined likelihood, statistics, weight parameters, confirmation information, feedback information, monitoring information, threshold values, time periods, configurations, schedulings, and applications to perform the methods herein when being executed in the system.
  • the memory 315 may be the same as the storing unit 313, or the storing unit 313 may be the unit which stores information in the memory 315.
  • a computer program may comprise instructions which, when executed on at least one processor, cause the at least one processor to carry out the method according to any of the steps in figure 2 .
  • a carrier may comprise the computer program, and the carrier may be one of an electronic signal, optical signal, radio signal or computer readable storage medium.
  • the present mechanism for handling a driver's 103 use of an object displaying device 105 comprised in a vehicle 100 may be implemented through one or more processors, such as a processor 303 in the system arrangement depicted in Figure 3 , together with computer program code for performing the functions of the embodiments herein.
  • the processor may be for example a Digital Signal Processor (DSP), Application Specific Integrated Circuit (ASIC) processor, Field-programmable gate array (FPGA) processor or microprocessor.
  • DSP Digital Signal Processor
  • ASIC Application Specific Integrated Circuit
  • FPGA Field-programmable gate array
  • the program code mentioned above may also be provided as a computer program product, for instance in the form of a data carrier carrying computer program code for performing the embodiments herein when being loaded into the system.
  • One such carrier may be in the form of a CD ROM disc. It is however feasible with other data carriers such as a memory stick.
  • the computer program code can furthermore be provided as pure program code on a server and downloaded to the system.
  • the monitoring unit 301, the determining unit 305, the obtaining unit 308, the providing unit 310, the storing unit 313 and the adapting unit 314 described above may refer to a combination of analog and digital circuits, and/or one or more processors configured with software and/or firmware, e.g. stored in a memory, that when executed by the one or more processors such as the processor 303 perform as described above.
  • processors as well as the other digital hardware, may be included in a single ASIC, or several processors and various digital hardware may be distributed among several separate components, whether individually packaged or assembled into a system-on-a-chip (SoC).
  • SoC system-on-a-chip
  • adapted to used herein may also be referred to as “arranged to”, “configured to”, “capable of” or “operative to”.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Traffic Control Systems (AREA)

Claims (14)

  1. Verfahren zum Handhaben der Verwendung einer Objektanzeigevorrichtung (105), die in einem Fahrzeug (100) enthalten ist, durch einen Fahrer (103), wobei das Verfahren umfasst:
    Überwachen (201) der Verwendung der Objektanzeigevorrichtung (105) durch den Fahrer (103); und
    auf Grundlage des Überwachens Bestimmen (202) einer Wahrscheinlichkeit dafür, dass der Fahrer (103) bei Verwendung der Objektanzeigevorrichtung (105) eine Darstellung des Objekts (110) erfasst hat, wobei die Darstellung des Objekts (110) für den Fahrer (103) in der Objektanzeigevorrichtung (105) sichtbar ist und wobei sich das Objekt (110) in der Umgebung des Fahrzeugs (100) befindet,
    dadurch gekennzeichnet, dass
    die Wahrscheinlichkeitsbestimmung ferner auf mindestens einem der folgenden Elemente basiert: einer Größe des Objekts (110), einem Abstand zwischen dem Objekt (110) und dem Fahrzeug (100), einem Kontrast des Objekts (110) in Bezug auf die Umgebung des Fahrzeugs (100), Lichtverhältnissen, einem Sonnenwinkel in Bezug auf das Fahrzeug (100) und einer Objektbewegung.
  2. Verfahren nach Anspruch 1, das ferner umfasst:
    auf Grundlage der bestimmten Wahrscheinlichkeit Anpassen (206) von Sicherheits- und Fahrerunterstützungssystemen.
  3. Verfahren nach einem der Ansprüche 1-2, wobei das Fahrzeug (100) eine Mehrzahl von Objektanzeigevorrichtungen (105) aufweist,
    wobei die Darstellung des Objekts (110) in mindestens zwei der Objektanzeigevorrichtungen (105) der Mehrzahl sichtbar ist und
    wobei jeder der mindestens zwei Objektanzeigevorrichtungen (105) bei der Wahrscheinlichkeitsbestimmung ein Gewichtsparameter zugeordnet wird.
  4. Verfahren nach Anspruch 3, wobei der Gewichtsparameter auf mindestens einem der folgenden Parameter basiert: einem Abstand zwischen dem Objekt (110) und dem Fahrzeug (110) und einer Objektgröße.
  5. Verfahren nach einem der Ansprüche 1-4, wobei das Überwachen (201) mindestens eines bereitstellt von Blickzeitinformation, Kopfrichtungsinformation, Blickrichtungsinformation und Augenöffnungsinformation, wobei die Blickzeitinformation eine Blickzeit für den Blick des Fahrers (103) in die Objektanzeigevorrichtung (105) angibt,
    wobei die Kopfrichtungsinformation eine Kopfrichtung des Fahrers (103) in Bezug auf die Objektanzeigevorrichtung (105) angibt und
    wobei die Augenöffnungsinformation einen Öffnungsgrad der Augen des Fahrers (103) beim Blicken in die Objektanzeigevorrichtung (105) angibt.
  6. Verfahren nach einem der Ansprüche 1-5, das ferner umfasst:
    Erlangen (203) einer Bestätigung dafür, dass der Fahrer (103) bei Verwendung der Objektanzeigevorrichtung (105) die Darstellung des Objekts (110) erfasst hat.
  7. Verfahren nach einem der Ansprüche 1-6, das ferner umfasst:
    auf Grundlage der bestimmten Wahrscheinlichkeit Bereitstellen (204) einer Rückmeldung an den Fahrer (103) bezogen auf die Verwendung der Objektanzeigevorrichtung (105) durch den Fahrer (103).
  8. Verfahren nach Anspruch 7, wobei die Wahrscheinlichkeit ferner auf Grundlage darauf bestimmt wird, ob eine Vorrichtung für haptische Rückmeldung und/oder eine Vorrichtung für akustische Rückmeldung aktiviert ist oder nicht, und wobei die Vorrichtung für haptische Rückmeldung und die Vorrichtung für akustische Rückmeldung dem Fahrer (103) angeben, dass sich das Objekt (110) in der Umgebung des Fahrzeugs (100) befindet.
  9. Verfahren nach einem der Ansprüche 1-8, das ferner umfasst:
    Speichern (205) von Überwachungsinformation der Verwendung der Objektanzeigevorrichtung (105) durch den Fahrer (103) mit der Zeit.
  10. Verfahren nach einem der Ansprüche 1-9, wobei die Objektanzeigevorrichtung (105) ein Spiegel und/oder eine Anzeigeeinrichtung ist, die das Objekt (110) oder eine Darstellung des Objekts (110) für den Fahrer (103) sichtbar machen.
  11. System zum Handhaben der Verwendung einer Objektanzeigevorrichtung (105), die in einem Fahrzeug (100) enthalten ist, durch einen Fahrer (103), wobei das System dazu eingerichtet ist:
    die Verwendung der Objektanzeigevorrichtung (105) durch den Fahrer (103) zu überwachen; und
    auf Grundlage des Überwachens eine Wahrscheinlichkeit dafür zu bestimmen, dass der Fahrer (103) bei Verwendung der Objektanzeigevorrichtung (105) eine Darstellung des Objekts (110) erfasst hat, wobei die Darstellung des Objekts (110) für den Fahrer (103) in der Objektanzeigevorrichtung (105) sichtbar ist und wobei sich das Objekt (110) in der Umgebung des Fahrzeugs (100) befindet,
    dadurch gekennzeichnet, dass
    die Wahrscheinlichkeitsbestimmung ferner auf mindestens einem der folgenden Elemente basiert: einer Größe des Objekts (110), einem Abstand zwischen dem Objekt (110) und dem Fahrzeug (100), einem Kontrast des Objekts (110) in Bezug auf die Umgebung des Fahrzeugs (100), Lichtverhältnissen, einem Sonnenwinkel in Bezug auf das Fahrzeug (100) und einer Objektbewegung.
  12. Fahrzeug (100), das ein System nach Anspruch 11 aufweist.
  13. Computerprogramm, das Anweisungen aufweist, die, wenn sie auf mindestens einem Prozessor ausgeführt werden, bewirken, dass der mindestens eine Prozessor das Verfahren nach einem der Ansprüche 1-10 ausführt.
  14. Träger, der das Computerprogramm nach Anspruch 13 aufweist, wobei der Träger eines von einem elektronischen Signal, optischen Signal, Funksignal oder einem computerlesbaren Speichermedium ist.
EP16190588.0A 2016-09-26 2016-09-26 Verfahren, system und fahrzeug für den einsatz einer objektanzeigevorrichtung in einem fahrzeug Active EP3299241B1 (de)

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CN201710810577.2A CN107867242B (zh) 2016-09-26 2017-09-11 用于在车辆中使用物体显示装置的方法、系统和车辆
US15/708,538 US11279371B2 (en) 2016-09-26 2017-09-19 Method, system and vehicle for use of an object displaying device in a vehicle

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US20180086265A1 (en) 2018-03-29
CN107867242B (zh) 2021-07-27
EP3299241A1 (de) 2018-03-28
CN107867242A (zh) 2018-04-03

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